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<h1>/home/wouter/ros_packages/thp-pj2-08/par_kinematics/include/par_kinematics/armmodel.h</h1>  </div>
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<a href="armmodel_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00007"></a>00007 <span class="preprocessor">#include &lt;ros/ros.h&gt;</span>
<a name="l00008"></a>00008 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00009"></a>00009 <span class="preprocessor">#include &lt;cmath&gt;</span>
<a name="l00010"></a>00010 <span class="preprocessor">#include &lt;<a class="code" href="util_8h.html">par_kinematics/util.h</a>&gt;</span>
<a name="l00011"></a>00011 <span class="preprocessor">#include &lt;<a class="code" href="point_8h.html">par_kinematics/point.h</a>&gt;</span>
<a name="l00012"></a>00012 
<a name="l00013"></a>00013 <span class="preprocessor">#ifndef _ARMMODEL_H_</span>
<a name="l00014"></a><a class="code" href="armmodel_8h.html#a39425047073d068065bcca656da8c983">00014</a> <span class="preprocessor"></span><span class="preprocessor">#define _ARMMODEL_H_</span>
<a name="l00015"></a>00015 <span class="preprocessor"></span>
<a name="l00016"></a><a class="code" href="classArmModel.html">00016</a> <span class="keyword">class </span><a class="code" href="classArmModel.html">ArmModel</a>
<a name="l00017"></a>00017 {
<a name="l00018"></a>00018         <span class="keyword">public</span>:
<a name="l00019"></a><a class="code" href="classArmModel.html#a6135ea3cb1411df7dddd40f43c2c6fc5">00019</a>                 <span class="keywordtype">float</span> <a class="code" href="classArmModel.html#a3e469a0741f6e29e6b11950df601c9c0">alpha</a>, <a class="code" href="classArmModel.html#ae03cad3fb0cdae2de17b71e2e8af6229">beta</a>, <a class="code" href="classArmModel.html#a6135ea3cb1411df7dddd40f43c2c6fc5">rho</a>;
<a name="l00020"></a><a class="code" href="classArmModel.html#a6b8b7868576b967376eb4c99a7f3f8ce">00020</a>                 <span class="keywordtype">double</span> <a class="code" href="classArmModel.html#aadaa6904d92741aa270a1cf8c3ecb9c4">a</a>, <a class="code" href="classArmModel.html#a6b8b7868576b967376eb4c99a7f3f8ce">b</a>; <span class="comment">// ankle length, hip length</span>
<a name="l00021"></a><a class="code" href="classArmModel.html#a4d1b74b7b6f8e0ecf56fa56e3fc34aa3">00021</a>                 <span class="keywordtype">double</span> <a class="code" href="classArmModel.html#a4d1b74b7b6f8e0ecf56fa56e3fc34aa3">c</a>;        <span class="comment">// base to goal distance, a2: projected ankle length</span>
<a name="l00022"></a>00022 
<a name="l00023"></a><a class="code" href="classArmModel.html#ac03d09b8aa4abf5987275c2093ac8caf">00023</a>                 <a class="code" href="classPoint.html">Point</a>* <a class="code" href="classArmModel.html#ac03d09b8aa4abf5987275c2093ac8caf">ab</a>;
<a name="l00024"></a>00024 
<a name="l00025"></a><a class="code" href="classArmModel.html#a465bd0a8945f7509114240a7af0906c0">00025</a>                 <span class="keywordtype">double</span> <a class="code" href="classArmModel.html#a465bd0a8945f7509114240a7af0906c0">base</a>;        <span class="comment">// base size</span>
<a name="l00026"></a><a class="code" href="classArmModel.html#aa26d9b7ae909db4dbef4de004f95e4e2">00026</a>                 <span class="keywordtype">double</span> <a class="code" href="classArmModel.html#aa26d9b7ae909db4dbef4de004f95e4e2">effector</a>;    <span class="comment">// effector size</span>
<a name="l00027"></a><a class="code" href="classArmModel.html#a6901a15b221d275ce26a659bfeee7a8d">00027</a>                 <span class="keywordtype">double</span> <a class="code" href="classArmModel.html#a6901a15b221d275ce26a659bfeee7a8d">angle</a>;           <span class="comment">// this arm length</span>
<a name="l00028"></a>00028         
<a name="l00029"></a><a class="code" href="classArmModel.html#a79e2dad57d7d2982b159a89961a54535">00029</a>                 <a class="code" href="classPoint.html">Point</a>* <a class="code" href="classArmModel.html#a79e2dad57d7d2982b159a89961a54535">g</a>;           <span class="comment">// goal point </span>
<a name="l00030"></a>00030 
<a name="l00031"></a><a class="code" href="classArmModel.html#a62c37ad0350bc177c9c008ac8fcbb875">00031</a>                 <span class="keywordtype">double</span> <a class="code" href="classArmModel.html#a62c37ad0350bc177c9c008ac8fcbb875">pangle</a>;      <span class="comment">// parallelogram joint angle</span>
<a name="l00032"></a><a class="code" href="classArmModel.html#a4145e8c786a08caa40b37c926d57fb48">00032</a>                 <span class="keywordtype">double</span> <a class="code" href="classArmModel.html#a4145e8c786a08caa40b37c926d57fb48">ankleAngle</a>;  <span class="comment">// for transforms</span>
<a name="l00033"></a>00033                 
<a name="l00034"></a>00034                 <a class="code" href="classArmModel.html#a442413d8223d30a804c38784bac0af3a">ArmModel</a>(<span class="keywordtype">double</span> <a class="code" href="classArmModel.html#a6901a15b221d275ce26a659bfeee7a8d">angle</a>, <span class="keywordtype">double</span> hip, <span class="keywordtype">double</span> ankle, <span class="keywordtype">double</span> <a class="code" href="classArmModel.html#a465bd0a8945f7509114240a7af0906c0">base</a>, <span class="keywordtype">double</span> <a class="code" href="classArmModel.html#aa26d9b7ae909db4dbef4de004f95e4e2">effector</a>);
<a name="l00035"></a>00035                 <a class="code" href="classArmModel.html#a442413d8223d30a804c38784bac0af3a">ArmModel</a>(<span class="keyword">const</span> <a class="code" href="classArmModel.html">ArmModel</a>&amp; p);
<a name="l00036"></a>00036                 <span class="keywordtype">double</span> <a class="code" href="classArmModel.html#a8b0321e28d01ac19423d028756b39606">moveto</a>(<span class="keywordtype">double</span> xg, <span class="keywordtype">double</span> yg, <span class="keywordtype">double</span> zg);
<a name="l00037"></a>00037 };
<a name="l00038"></a>00038 
<a name="l00039"></a>00039 <span class="preprocessor">#endif</span>
</pre></div></div>
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<a href="http://ros.org/wiki/par_kinematics">par_kinematics</a><br />
Author(s): Wouter van Teijlingen</br />
<small>autogenerated on Mon Jun 13 2011 17:06:55</small>
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